Topics could only be matched by name/glob pattern. This adds type-based selection so entries like type: "geometry_msgs/msg/Twist" record all topics of that type regardless of their name. The node's existing periodic discovery loop picks up newly published topics automatically.

Changes

• topic_filter.py – find_matching_config gains an optional type_name parameter. Config entries now support:
  • pattern – existing Zenoh glob on topic name
  • type – exact message type match
  • both keys present → AND logic (both must match)
  • neither key → entry skipped
• ringbuffer_node.py – passes type_names[0] to find_matching_config during discovery
• example_config.yaml – documents the new type key with a geometry_msgs/msg/Twist example
• test_topic_filter.py – 11 new tests covering type-only, combined, and edge-case scenarios

Example config

topics:
  # Record all Twist messages, whatever topic they appear on
  - type: "geometry_msgs/msg/Twist"
    max_frequency: 10.0
    qos:
      reliability: best_effort
      durability: volatile
      depth: 10

  # Name-based selection unchanged
  - pattern: "/camera/**"
    max_frequency: 10.0

  # Both keys: topic name AND type must match
  - pattern: "/cmd_vel"
    type: "geometry_msgs/msg/Twist"

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